Successive Approximation Register (SAR) Analog-to-Digital Converters (ADC) are some of the most efficient ADC topologies available, allowing excellent performance values at low power consumption across a wide range of sampling frequencies. The proposed ADC is aimed at a tactile sensor application, requiring a low-noise and lowpower solution. In addition, it should have high SNDR to detect even the weakest signals with precision. This thesis presents a 12-bit 400 kS/s SAR ADC implemented in a 180 nm CMOS technology for such a task. The designed SAR ADC uses a hybrid R-C DAC topology consisting of a chargescaling MSB DAC and a voltage-scaling LSB DAC, allowing a good trade-off between power consumption, layout area and performance while keeping the total DAC capacitance under reasonable values. Bootstrapped switches have been implemented to preserve high-linearity during the sampling period. A double-tail dynamic comparator has been designed to obtain a low-noise measurement while ensuring suitable delay values. Finally, regarding the logic, an asynchronous implementation and the conventional switching algorithm provide a simple but effective solution to supply the digital signals of the design. Pre-layout noise simulations with input frequencies around 200 kHz show SNDR values of 72.07 dB, corresponding to an ENOB of 11.67 bits. The total power consumption is 365 ?W while the Walden and Schreier figure-of-merit (FoM) correspond to values of 275 fJ/conversion and 160 dB, respectively.